KR20030070632A - Soccer robot - Google Patents

Abstract

PURPOSE: A soccer robot is provided to enjoy more dynamic and exciting soccer with a gamer and soccer robot having one-to-one match and a shooting device provided, in an environment where players play soccer on their own way. CONSTITUTION: The soccer robot includes wheels(51,55) on the outer sides of the right and left frames(11,15); first and second geared motors(61,71), connected to the above wheels to run the wheels(51,55); a ball caster(81) set to the lower frame(21); a shooting device(100) comprising a shooting bar(190) in front of the front frame(25); a controller(200) comprising a main board(210), inserted into sliding hole(12,16) formed on the upper side of the right and left side frame(11,15) and covered by the upper frame(31); and a battery(300) at the rear of the shooting device(100) to be cohered to the rear frame(35).

Description

Soccer Robots {Soccer robot}

The present invention relates to a soccer robot, and more particularly, to a soccer robot that can be controlled using a joystick and has a shooting device.

Korean Patent Application No. 1998-47944 (filed Nov. 10, 1998) introduces a "wireless transceiver for soccer robot".

The wireless transceiver of the soccer robot is for distributing a toy-type soccer robot, and is configured to control several soccer robots from one computer by using an RF transmitter and receiver and a variable inductor capable of changing a wireless channel.

Korean Utility Model Registration Application No. 1999-16480 (filed Aug. 12, 1999) introduces "Radio-controlled robot soccer race car".

The wirelessly controlled robot soccer race car controls the operation of the soccer robot race car by using a remote control provided with several buttons, and when the kick button of the remote control is pressed, a third motor is operated to rotate the stick so that the ball touches the ball portion. You can kick or pass by hitting.

However, the radio-controlled robot soccer racer has a curved shape of a ball-mounted portion, and has a disadvantage in that it is impossible to kick or pass the ball in a very short time because the stick rotates by the operation of the motor.

Republic of Korea Utility Model Registration No. 1999-18256 (filed Aug. 31, 1999) "Soccer robot" is introduced.

The football robot can move quickly and accurately to the destination by enabling the linear straight movement of the robot mechanically during the operation of the drive unit. However, the soccer robot is an image control method using a computer, and there is no shooting device.

Korean Utility Model Registration Application No. 1999-24587 (filed Nov. 10, 1999) introduces "Ball throwing robot toy".

The ball throwing robot toy controls the operation with a remote control, and the means for throwing the ball is mounted on the robot, which is different from the object and configuration of the present invention.

Republic of Korea Patent Application No. 1999-47710 (October 30, 1999 application) "robot control method for a robot soccer game" is introduced, but this is a computer-based image control method is different from the present invention.

Republic of Korea Patent Application No. 1999-47711 (October 30, 1999) "soccer robot device" is introduced. The football robot device is a unit of each component to improve the productivity and assembly. However, the soccer robot device is not a joystick type control and there is no shooting device.

Republic of Korea Utility Model Application No. 2000-3083 (February 3, 2000 application) "football game device and football player robot" is introduced. The soccer game device and the soccer player robot are designed to control several soccer player robots by one person, and the dribbling hand and the kicking rod are disposed at different positions, and the wicking rod is eccentrically installed and kicked as the wheel rotates. The rod is moved back and forth to perform the keying operation.

Korean Utility Model Registration Application No. 2000-20578 (filed July 19, 2000) introduces "football robot kicking with two feet." The two-footed soccer robot delivers the power of the electric motor to the legs via gears or pulleys to kick.

It is an object of the present invention to provide a soccer robot equipped with a shooting device, and gamers and soccer robots are 1: 1 matched using a joystick, so that several people can play together in the position of a soccer player. I am able to play soccer.

One example of the soccer robot according to the present invention for achieving the above object is controlled by the joystick and RF transmission and reception, using a puck-type ball 1: 1, 2: 2 or 3: 3 football game, etc. And wheels disposed outside the left and right side frames, first and second geared motors connected to the wheels to operate the wheels, ball casters mounted on the lower frame, and disposed in front of the front frame. A control unit including a shooting device including a shooting bar, a sliding groove formed in an upper portion of the left and right side frames and covered by an upper frame, and a battery disposed behind the shooting device to be in close contact with a rear frame. It is characterized in that the configuration.

The shooting device includes a shooter block having both sides fixed to left and right frames, a third geared motor disposed on an upper surface of the shooting block, a main gear mounted to a driving shaft of the third geared motor, and disposed below the shooting block; A shooting gear interlocked with the main gear, a rotation sensing device mounted on the shooting gear to sense rotation of the shooting gear, a wire wound around the body of the shooting gear and connected to a connection bar, and on the connection bar. And two pistons to be mounted, a piston housing including the pistons, and a shooting bar fastened to the front of the pistons.

The main gear is characterized in that the gear gear engaging with the shooting gear is formed only in a partial section, so that only the section where the gear gear is formed is engaged with the shooting gear.

The shooting gear has a wire winding portion formed so that the wire can be wound around the body portion, and as the shooting gear rotates, the wire mounted on the wire winding portion is wound around the body portion or the wound wire is released from the body portion. do.

The rotation sensing device is characterized in that the cam is mounted on a bearing shaft mounted to the shooting gear so that the cam turns on the limit switch and transmits a signal to the CPU of the controller when the final gear and the shooting gear of the gears of the main gear are engaged. It is done.

The piston has a stopper formed between the front rod and the rear rod, a cushioning is fitted to the front rod, a tab hole is formed at the end of the front rod, the bolt is fastened to the tab hole, so that the shooting bar is the front A rod is mounted on the rod, a spring is disposed around the rear rod, a tamper is formed at the end of the rear rod, and a connection bar is mounted at the end of the rear rod as a bolt is fastened to the tab hole, and a wire is connected to the connection bar. It is characterized in that one end of the connection.

The control unit is characterized in that the main board is provided with a joystick and a wireless receiving unit for the RF transmission and reception, a CPU, a dot matrix for displaying characters, a setting switch, an adjustment switch, and a confirmation switch.

The joystick is characterized in that the direction button is disposed on the left side, the channel selection means disposed in the center is disposed in the center, the shooting button is disposed on the right side of the setting button of the channel selection means, and the various function buttons are disposed on the right side. do.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is an exemplary view showing that the football robot according to the invention is adjusted by the joystick

2 is an exploded perspective view showing the soccer robot of FIG.

Figure 3 is an exploded perspective view showing a shooting device of a soccer robot according to the present invention

4 is a perspective view of the main gear of FIG.

5 is a perspective view of the shooting gear of FIG.

6 and 7 are cross-sectional views showing the shooting operation of the shooting device according to the present invention.

8 is a perspective view of a control unit according to the present invention;

9 is a plan view showing a joystick

* Description of Signs of Main Parts of Drawings *

11, 15, 21, 25, 31, 35: frames 51, 55: wheels

61, 71: geared motor 81: ball caster

100: shooting device 200: control unit

300: battery 500: joystick

Referring to Figure 1, the soccer robot 1 according to the present invention is controlled by the joystick 500 and the RF transmission and reception, using a puck type ball 600, 1: 1, 2: 2 or 3: You can play soccer with 3rd place.

2, the soccer robot according to the present invention is connected to the wheels 51 and 55 disposed outside the left and right side frames 11 and 15 and the wheels 51 and 55 to operate the wheels. Shooting device 100 comprising first and second geared motors 61, 71, a ball caster 81 mounted on lower frame 21, and a shooting bar 190 disposed in front of front frame 25. And a control unit 200 including a main board 210 fitted into the sliding grooves 12 and 16 formed on the left and right side frames 11 and 15 and covered by the upper frame 31. And a battery 3 00 disposed behind the shooting device 100 so as to be in close contact with 35.

The front frame 25 is formed with holes 26 and 27 through which the pistons 150a and 150b of the shooting device 100 can pass, respectively.

The upper frame 31 has a circular hole 35a, 35b, 35c in which a rectangular display window 33 and switches of the controller 200 are disposed.

Referring to FIG. 3, the shooting device 100 includes a shooter block 110 having both sides fixed to left and right frames 11 and 15 (see FIG. 2), and a third portion disposed on an upper surface of the shooting block 110. A geared motor 115, a main gear 120 mounted to a driving shaft 117 of the third geared motor 115 and disposed under the shooting block 110, and a shooting that interlocks with and interlocks with the main gear 120. It is connected to the gear 125, the rotation sensing device 130 mounted on the shooting gear 125 to sense the rotation of the shooting gear 125, and the body portion 127 of the shooting gear 125 and connected to the bar A piston housing 170 including a wire 145 connected to the 140, two pistons 150 mounted on the connection bar 140, the piston 150, and a spring 165 therein; It consists of a shooting bar 190 is fastened to the front of the piston 150.

As shown in FIG. 4, the main gear 120 has only a section in which the gear 121 engaged with the shooting gear 71 is formed only in a partial section, so that only the section in which the gear 121 is formed with the shooting gear 125 is formed. To interlock.

As shown in FIG. 5, the shooting gear 125 has a wire winding part 129 formed to wind the wire 145 around the body 127. As a result, as the shooting gear 125 rotates, the wire 145 mounted on the wire winding part 129 is wound around the trunk portion 127 or the wire 91 wound around is released from the trunk portion 127. .

As shown in FIG. 3, the rotation sensing device 130 includes a cam 133 mounted on a bearing shaft 131 mounted to the shooting gear 125 so that the gears 121 of the main gear 120 may be rotated. When the final gear 121a (see FIG. 4) and the shooting gear 125 are engaged, the cam 133 turns on the limit switch 135 to transmit a signal to the CPU 220 of the controller 200.

3, 6, and 7, the piston 150 has a stopper 155 formed between the front rod 151 and the rear rod 153, and cushions 157 the front rod 151. ) Is fitted, and a tab hole is formed at the end of the front rod 151 so that the bolt 161 is fastened to the tab hole so that the shooting bar 190 is mounted to the front rod 151 and the rear rod A spring 165 is disposed around the periphery 153, and a tamper is formed at the end of the rear rod 153, so that the bolt 163 is fastened to the tab hole, thereby connecting the connection bar 140 to the end of the rear rod 153. ) Is mounted, and one end of the wire 145 is connected to the connection bar 140. As a result, as shown in FIG. 6, as the wire 145 is wound around the shooting gear 125, the wire 145 pulls the connecting bar 163 to move the piston 150 backward, and the spring 165 is compressed. Then, when the winding force of the wire 145 is released, the piston 150 is advanced forward by the elastic force of the compressed spring 165, as shown in FIG. At this time, the stopper 155 hits the front frame 25 and the forward movement of the piston 150 is stopped.

The shooting device 100 configured as described above operates as follows.

The final gear 121a of the main gear 120 and the shooting gear 125 are engaged with each other, and the wire 145 is wound around the body 127 of the shooting gear 125 so that the wire 145 may move the piston 150. As the spring 165 is pulled inward, the shooting bar 190 enters the shooting operation standby state. In this state, when the third geared motor 115 operates by receiving a signal from the CPU 220 of the controller 200, the spring 165 that has been compressed while the engagement state between the main gear 120 and the shooting gear 125 is released is released. While returning to the original state, the piston 150 is released from the piston housing 170 to perform the shooting operation of the shooting bar 190. Then, when the third geared motor 115 continues to operate to engage the final gear 121a of the main gear 120 and the shooting gear 125, the cam 133 turns on the limit switch 135 so that the CPU 220 may turn on. By transmitting the signal to the), the operation of the third geared motor 115 is stopped and the shooting standby state is again.

Referring to FIG. 8, the controller 200 includes a joystick 500 (see FIG. 9), a wireless receiver 235 for RF transmission and reception, a CPU 220, a dot matrix 225 displaying characters, and a setting switch SW1. ), Adjustment switch SW2, confirmation switch SW3, and the like are provided on the motherboard 250.

Therefore, the signal received from the joystick 500 to the wireless receiver 235 is input to the received CPU 220 and transmits a signal from the CPU 220 to a motor driver (not shown), thereby providing the first and second signals. And control the operation of the third geared motors 61, 71, 115. In addition, the setting switch SW1, the adjustment switch SW2, and the confirmation switch SW3 are for setting a channel of the soccer robot or for setting a phrase displayed on the dot matrix 225, and the setting switch SW1. When turn on), a signal is input to the CPU 220 to switch the CPU 220 to the setting mode state. That is, the selection screen for selecting a channel / phrase is displayed on the dot matrix 225. Thereafter, the channel or the phrase is selected on the selection screen using the control switch SW2. For example, when the channel is selected by the adjustment switch SW2, the channel number is selected by using the next confirmation switch SW3, and then the setting switch SW1 is pressed again to release the setting mode state.

Referring to FIG. 9, the joystick 500 includes direction buttons 511, 512, 513, and 514 on the left side, a channel selecting means 521 disposed in the center, and a channel selecting means ( A shooting button 531 is disposed on the right side of the setting button 525 of 521, and various function buttons 540 are disposed on the right side.

The direction button is composed of a forward button 511, a reverse button 512, the left and right buttons (513, 514), press only the left button 513 to turn the football robot left, press only the right button 514 to turn right When pressing the forward button 511 and the left button 513 at the same time to advance in the left diagonal direction, and simultaneously pressing the forward button 511 and the right button 514 to advance in the right diagonal direction, the reverse button Pressing the 512 and the left button 513 at the same time to reverse in the left diagonal direction, and pressing the reverse button 512 and the right button 514 at the same time will reverse in the right diagonal direction.

When the joystick is switched to the setting mode by pressing the setting button 525, the channel selecting unit 521 displays the channel number displayed on the channel number display unit 533 using the forward button 511 or the backward button 512. Select and press the setting button 525 again to cancel the channel setting mode. Therefore, the player sets the joystick channel and the communication channel of the soccer robot, for example, when playing a 3: 3 soccer game, the player can control only his soccer robot.

The function button 540 includes a brake button 541 and four program combo buttons 542, 543, 544, and 545.

The program combo buttons 542, 543, 544, and 545 select a phrase displayed on the dot matrix 225 of the soccer robot 1, and the soccer robot 1 is combined with the direction buttons 511-514. It is intended to move a programmed scheduled course. For example, when the first combo button 542 is pressed, the phrase "goal" is displayed on the dot matrix 225 of the soccer robot 1, and when the first combo button 542 and the forward button 511 are pressed at the same time. The soccer robot turns into place. In this way, the soccer robot performs a pre-programmed function by combining the program combo button and the direction button.

As described above, the soccer robot according to the present invention provides a soccer robot equipped with a shooting device, and a game machine and a soccer robot are 1: 1 matched by using a joystick, so that several people can play together in the position of a soccer player. You can play a more realistic football game is effective.

Claims (8)

Operation is controlled through the joystick 500 and RF transmission and reception, using the puck-type ball 600 can be played football 1: 1, 2: 2 or 3: 3, Wheels 51 and 55 disposed outside the left and right side frames 11 and 15, and first and second geared motors 61 and 71 connected to the wheels 51 and 55 to operate the wheels; , A shooting device 100 including a ball caster 81 mounted on the lower frame 21, a shooting bar 190 disposed in front of the front frame 25, and an upper portion of the left and right side frames 11 and 15. A control unit 200 including a main board 210 that is fitted to the sliding grooves 12 and 16 formed in the cover and covered by the upper frame 31, and the rear of the shooting device 100 to be in close contact with the rear frame 35. Football robot, characterized in that consisting of a battery 300 disposed in. The method of claim 1, The shooting device 100 includes a shooter block 110 having both sides fixed to the left and right frames 11 and 15, a third geared motor 115 disposed on an upper surface of the shooting block 110, and the third A main gear 120 mounted to the drive shaft 117 of the geared motor 115 and disposed under the shooting block 110, a shooting gear 125 engaged with the main gear 120 to interlock with the main gear 120, and the shooting gear ( A rotation sensing device 130 mounted on the 125 and detecting the rotation of the shooting gear 125 and a wire 145 wound around the body 127 of the shooting gear 125 and connected to the connection bar 140. And a piston housing 170 mounted on the connection bar 140, a piston housing 170 including the piston 150, and a spring 165 therein, and a front surface of the piston 150. Soccer robot, characterized in that consisting of a shooting bar 190 is fastened. The method of claim 2, The main gear 120 is a football robot, characterized in that the gear is engaged with the shooting gear 71 is formed only in a partial section only the section in which the gear 121 is formed is engaged with the shooting gear 125. The method of claim 2, The shooting gear 125 has a wire winding portion 129 formed to wind the wire 145 on the body portion 127, and the wire mounted on the wire winding portion 129 as the shooting gear 125 rotates. Soccer robot, characterized in that 145 is wound on the body portion 127 or the wire 91 is released from the body portion 127. The method of claim 2, The rotation detecting device 130 has a cam 133 mounted on a bearing shaft 131 mounted on the shooting gear 125 so that the final gear 121a and the shooting gear 125 of the gears 121 of the main gear 120 are mounted. ) When the cam (133) is turned on the limit switch 135 and transmits a signal to the CPU 220 of the control unit (20 0). The method of claim 2, The piston 150 has a stopper 155 formed between the front rod 151 and the rear rod 153, the cushioning 157 is fitted to the front rod 151, the front rod 151 A tab hole is formed at an end portion thereof, and a bolt 161 is fastened to the tab hole so that a shooting bar 19 0 is mounted on the front rod 151, and a spring 165 is disposed around the rear rod 153. A tamper is formed at the end of the rear rod 153 so that the bolt 163 is fastened to the tab hole, so that the connection bar 140 is mounted at the end of the rear rod 153, and the connection bar 140 is formed. Football robot, characterized in that one end of the wire 145 is connected to. The method of claim 1, The control unit 200 is a joystick 500 and a wireless receiver 235 for RF transmission and reception, the CPU 220, a dot matrix 225 for displaying characters, a setting switch (SW1), adjustment switch (SW2), and confirmation Soccer robot, characterized in that the switch (SW3) is provided on the main board (250). The method of claim 1, The joystick 500 has direction buttons 511, 512, 513, and 514 disposed at the left side, a channel selection means 521 disposed at the center, and a setting button () of the channel selection means 521. 525) The shooting button 531 is disposed on the right side, the football robot, characterized in that the various function buttons 540 are disposed on the right side.